CN110510016B - Crawler-type escaping device - Google Patents
Crawler-type escaping device Download PDFInfo
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- CN110510016B CN110510016B CN201910862420.3A CN201910862420A CN110510016B CN 110510016 B CN110510016 B CN 110510016B CN 201910862420 A CN201910862420 A CN 201910862420A CN 110510016 B CN110510016 B CN 110510016B
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- frame
- crawler
- rod
- air bag
- locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
- B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
- B60S9/215—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel driven by an auxiliary motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention discloses a crawler-type escaping device, comprising: a bearing frame; a ground supporting device; an upper connecting portion; an air bag; a compressed gas supply system; a crawler belt. The crawler-type escaping device based on the invention has simple structure and relatively good buffering performance and transformation performance.
Description
Technical Field
The invention relates to a crawler-type escaping device.
Background
With the improvement of living conditions of people, the off-road vehicle gradually enters common families, the destination of self-driving tour is an area with poor passability in many times, and the off-road performance of the off-road vehicle is required to be higher. In response to this demand, a large number of accessories are currently available that can be mounted to the off-road vehicle to improve the off-road performance of the off-road vehicle.
Chinese patent documents CN106828631A, CN106864430A, CN106828438A, CN106828442A, CN106828439A, and CN107458486A disclose a series of technical solutions for the purpose of improving the off-road performance of vehicles, and make relatively detailed descriptions on the prior art thereof, and are not repeated herein.
The technical solutions claimed in these patent documents mostly have a deformation control function, and adapt to different off-road scenes by changing the form of, for example, a crawler-type escaping device. The deformation control is to consider the structural compactness of the crawler-type escaping device in a non-working state on one hand and the structural reliability and the bearing capacity in a working state on the other hand. In addition, under the influence of the requirement of compact structure, under the non-working state, the force arm generated when the force is applied to drive the deformed part of the crawler-type escaping device is small, and the smooth proceeding of the deformation is influenced. Further, in order to avoid such a situation, that is, a situation where the moment arm is small, many other structures must be added, which results in a complicated overall structure.
At present, deformation control of the crawler-type escaping device basically depends on mechanical mechanisms which are inconvenient to arrange in a relatively narrow space, and under the condition that the mechanical mechanisms are configured, buffer of the crawler-type escaping device per se has relatively large obstacles, and when the relevant buffer mechanisms are configured, the complexity of the crawler-type escaping device is further increased inevitably.
Typically, a crawler-type escaping device, as proposed in chinese patent document CN107458486A, has a deformation portion adopting a quadrilateral mechanism, and realizes a change of a distance between a frame and a support frame based on rotation of two side links, so as to have two basic states of opening and closing, wherein the basic states are used for escaping from a vehicle or assisting driving under a specific road condition in the opening state, and the basic states are used for reducing a large influence on the passability of the vehicle in the closing state.
Based on the above chinese patent document CN107458486A, the deformation of the track escaping device depends on the deformation control mechanism driven by the oil cylinder in stages, and the device has a track tensioning, auxiliary retracting, retracting adjusting mechanism and a track locking mechanism in order to keep the length of the peripheral edge of the frame supporting the track before and after the deformation and during the deformation process constant and keep the track at a certain tension degree, and keep the bottom track part attached to the frame after the track escaping device is stored.
The deformation control mechanism needs to occupy relatively large up-and-down space and needs to be equipped with a pressurizing device, and the quadrilateral mechanism of the deformation part increases the weight of the device, and the thickness or height of the device in a retracted state and the weight of the device are relatively large.
Further, chinese patent document CN107458486A requires an independent buffer device at the tail, and the buffer device can only be configured as a horizontal structure in terms of installation, and the directions in which the horizontal structure and the crawler-type escaping device need to buffer up and down do not directly match, and the buffer performance is not exhibited well.
Disclosure of Invention
The invention aims to provide a crawler-type escaping device which is simple in structure and relatively good in buffering performance and transformation performance.
The embodiment of the invention provides a crawler-type escaping device, which comprises:
the bearing frame is provided with two frame side frames which are arranged along the front-back direction of the vehicle and are parallel to each other, and the two frame side frames are fixedly connected with each other;
the grounding support device is connected with the bearing rack through a rod piece to form a hinge four-bar linkage mechanism or a hinge five-bar linkage mechanism, has a movement form of being far away from or close to the bearing rack and is parallel to the bearing rack;
an upper connecting part which forms a moving pair in the front-back direction of the vehicle with the two frame frames;
an air bag, the upper side of the air bag is fixedly connected with the upper connecting part, and the lower side of the air bag is fixedly connected with the grounding supporting device;
a compressed air supply system connected to the air bag through an air tube;
and the crawler belt takes the hinge four-bar linkage or the hinge five-bar linkage as a crawler belt frame.
In the above crawler-type escaping device, optionally, the upper connecting part is a sliding support plate;
correspondingly, the opposite side surfaces between the two frame frames are provided with sliding grooves for guiding the sliding support plates;
a guide rod mounted on the bearing frame for guiding the sliding support plate; or
And the linear guide rail is arranged on the bearing rack and used for guiding the sliding support plate.
Optionally, a locking mechanism for locking the grounding weight support device on the carrier frame when the grounding weight support device runs to the upper dead point is arranged on the carrier frame.
Optionally, the locking mechanism comprises:
the linear driving part is used for providing linear direction motion;
the locking rod is actuated by the linear driving part in the front-rear direction of the crawler-type escaping device and is provided with a power thread, and the helix angle of the power thread is larger than the equivalent friction angle;
correspondingly, a locking block is arranged on the outer side face of the frame of the bearing rack, the locking block is installed on the locking rod through the power threads and is limited in the front-back direction of the bearing rack, so that the linear motion of the locking rod can be converted into the rotation of the locking block, and after the grounding supporting device moves upwards to a proper position, the locking block is turned over to support and support the grounding supporting device.
Optionally, three locking blocks are arranged on each frame.
Optionally, the linear drive section comprises:
the sliding seat is guided to the frame and provided with a nut;
the screw rod is arranged on the bearing rack, is parallel to the frame of the rack and is matched with the nut to form a nut screw rod mechanism;
and the output end of the motor is connected with the lead screw.
Optionally, the hinge five-bar linkage is configured to:
the bearing frame forms a frame of the hinge five-bar mechanism;
the grounding support device forms a first connecting rod;
providing a first connecting frame rod, wherein one end of the first connecting frame rod is hinged to the front end of the rack, and the other end of the first connecting frame rod is hinged to the front end of the grounding supporting device;
providing a second side link, wherein one end of the second side link is hinged to the rear end of the rack;
one end of the second connecting rod is hinged with the other end of the second side link, and the other end of the second connecting rod is hinged with the rear end of the grounding support device;
wherein, the length sum of the rack and the second connecting rod is equal to the length sum of the rest three connecting rods.
Optionally, the balloon is a cuboid balloon when deployed;
the bladder sidewall has pre-folds.
Optionally, the pre-crease is a connecting ridge line between the fabric surfaces forming the wall of the airbag.
Optionally, the air bag consists of sequentially stacked and sequentially communicated bag bodies;
bonding adjacent capsules;
one of the air bags is connected with an air pipe.
Optionally, the trachea is connected to the uppermost balloon.
Optionally, the number of capsules is 3-8.
Optionally, the connection between the air bag and the upper connecting part and the connection between the air bag and the grounding weight support device are adhesive.
In the embodiment of the invention, the state of the crawler-type escaping device is changed by using the air bag, and the problem of an initial pressure angle does not exist because the expansion and the compression of the air bag depend on non-directional gas, and the setting difficulty is far less than that of a mechanical mechanism. Meanwhile, compared with a mechanical structure, the air bag body can have smaller thickness in a retracted state, so that the crawler-type escaping device can have smaller thickness or height in a retracted state, and the influence of the vehicle on reducing the ground clearance caused by the installation of the crawler-type escaping device is reduced. The gas compressibility is good, and the air bag has natural buffering performance, so that an independent buffering device does not need to be arranged for the crawler-type escaping device, and the complexity is greatly reduced.
Drawings
Fig. 1 is a schematic view of a configuration state of a crawler-type escaping device and a vehicle in an embodiment.
Fig. 2 is a bottom view of a schematic configuration of the crawler-type escaping device and the vehicle in one embodiment.
Fig. 3 is a schematic view of the crawler-type escaping device in a fully contracted state in one embodiment.
Fig. 4 is a schematic view of the crawler-type escaping device in a fully opened state in one embodiment.
Fig. 5 is a schematic structural diagram of the crawler-type escaping device in one embodiment.
FIG. 6 is a schematic view of a deformation control mechanism and a locking mechanism of the crawler-type escaping device in one embodiment.
Fig. 7 is a schematic view of the crawler-type escaping device in a locked state after being completely retracted in one embodiment.
FIG. 8 is a schematic structural view of a planar five-bar linkage frame in a track of the crawler-type escaping device in one embodiment.
FIG. 9 is a schematic view of a fully deployed configuration of the balloon in one embodiment.
FIG. 10 is a schematic view showing a non-deployed configuration of the balloon in one embodiment.
FIG. 11 is a schematic view showing a state where an airbag is stored in an embodiment.
In the figure: 100. a vehicle; 200. crawler-type device of getting rid of poverty.
1. A drive mechanism; 2. a bearing frame; 3. a deformation control mechanism; 4. a ground supporting mechanism; 5. a rotating arm; 6. a rotating arm; 7. a rotating arm; 8. a crawler belt; 9. and a locking mechanism.
201. A guide chute; 202. a guide chute.
301. An air bag; 302. the sliding support plate, 303, balloon, 304, connecting seam, 305, ridge line, 306, communication hole, 307, air pipe.
901. A motor; 902. a motor support; 903. a sliding seat; 904. a lead screw; 905. a lock lever; 906. a locking block; 907. and a guide supporting block.
Detailed Description
Referring to fig. 1 of the specification, for example, a vehicle 100 having a certain head and tail, and thus having a certain front, rear, and left and right, in the present invention, a direction determined, for example, in front and rear of the vehicle 100 is taken as a first reference direction. And the width or left and right directions of the vehicle 100 are directions perpendicular to the first reference direction in the horizontal plane.
The height direction of the vehicle 100, for example, is a desired deformation direction of the crawler-type escaping device 200, or a height change direction.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted" and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or a unitary structure; either directly or indirectly through intervening media. The specific meaning of the above terms in the present invention can be understood as appropriate by those skilled in the art.
In the present invention, the terms "inside", "outside", "left", "right", and the like indicate orientations or positional relationships that may be understood based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention or simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specifically indicated, the term "rod length" refers to the linear distance between two connecting points of a member, such as the rotating arm 5, and the length refers to the length of the connecting line of the hinge points at the two ends.
Fig. 1 to 2 show the arrangement of the crawler-type escaping device 200 on the vehicle 100, and the left and right sides are provided on the chassis of the vehicle 100.
For larger vehicles, such as passenger cars, 2-4 crawler-type escaping devices 200 can be arranged on the left and right sides of the chassis of the vehicle 100, for example, two sets of four devices are arranged between the front and rear wheels of the vehicle 200, and two devices are arranged on the front side of the front wheel or the rear side of the rear wheel.
Regarding the basic mechanism of the crawler-type escaping device 200, the crawler 8 usually needs to be wrapped around an in-belt framework, which is based on the carrier frame 2 shown in fig. 4, and the carrier frame 2 is fixedly mounted on, for example, the chassis of the vehicle 200.
The mechanical schematic diagram of the in-belt frame wrapped by the track 8 of the crawler type escaping device 200 in the embodiment shown in fig. 4 is equivalent to the planar five-bar linkage shown in fig. 8, therefore, the in-belt frame is expressed by the basic concept of the planar five-bar linkage, the grounding support mechanism 4 is the frame body part of the crawler type escaping device 200 with the in-belt frame located below, which is indicated as the driving rod, the movable member which is not directly connected with the frame in the mechanical field is called the connecting rod, and the movable member which is directly connected with the frame is called the connecting rod.
The carrier frame 2 is the frame portion of the crawler-type escaping device 200 with the internal frame above, indicated as the frame rod, and is also the frame portion of the whole crawler-type escaping device 200. The swivel arm 5, the swivel arm 6 and the swivel arm 7 are represented as the remaining three levers of a planar five-link mechanism, wherein the swivel arm 5 and the swivel arm 7 belong to side links in the mechanical term, but for convenience of description, the swivel arm 5, the swivel arm 6 and the swivel arm 7 are collectively referred to as links in the embodiment of the present invention.
The rack rod is the part of the bearing rack 2 between the hinge points of the driving mechanism 1, the rotating arm 7 and the bearing rack 2, the rod length is marked as a, the rod lengths of the rotating arm 5, the grounding weight-bearing mechanism 4, the rotating arm 6 and the rotating arm 7 are respectively marked as b, c, d and e, and the included angle between the rotating arm 6 and the rotating arm 7 is marked as alpha.
In addition, in particular, the frame body above the plane five-bar linkage, i.e., the carrier frame 2 shown in fig. 4, is used for the fixed connection between the crawler-type escaping device 200 and, for example, the vehicle frame. The connection mode mainly adopts bolt connection. In addition, the carrier frame 2 in fig. 5 has two main frames, called frame frames, which are arranged in the front-rear direction of the vehicle, between which the tracks 8 are interposed, the upper surfaces of which can be used for engagement with the vehicle chassis and fixed connection by means of fasteners.
The planar five-bar linkage mechanism can control the distance between the rack rod and the active rod, namely the bearing frame 2 and the grounding support mechanism 4 to change, so that the crawler-type escaping device 200 has the deformation capability of height or thickness.
As can be seen from fig. 4 to 6, the planar five-bar linkage belongs to a planar hinge five-bar linkage, that is, the connection mode between the components belongs to a hinge connection.
A typical mechanism that can achieve the parallelism of the frame and the connecting rod (i.e. a component parallel to the frame, belonging to the connecting rod, not the side link) in the mechanical field and can control the distance variation between the two is a parallelogram mechanism, belonging to a planar hinge four-bar mechanism, and a hinge four-bar mechanism can also be adopted in the embodiment of the present invention.
In this embodiment, fig. 5 shows a crawler-type escaping device 200, which includes the following mechanisms and components: the device comprises a driving mechanism 1, a bearing frame 2, a track deformation control mechanism 3, a grounding support weight mechanism 4, a rotating arm 5, a rotating arm 6, a rotating arm 7, a track 8 and a locking mechanism 9.
The following describes each related mechanism and component and their connection relationship in detail.
The carrier frame 2 is used for fixedly connecting the crawler-type escaping device 200 with, for example, a vehicle frame, and a guide chute 202 and a guide chute 201 are configured on the left and right frame bodies at the front part and the middle part of the carrier frame 2, as can be seen in fig. 6 in particular, the guide chute 202 and the guide chute 201 are mainly used for providing guidance and have a compact structure.
Furthermore, the guide structure, which is more commonly used in the mechanical field, is a linear guide or a guide rod, which can also be used in embodiments of the present invention, and which requires a separate component to be provided with respect to the guide groove 202 and the guide groove 201, such as a linear guide, occupies a slightly larger space, but the maintainability of such a linear guide is relatively good.
For the ground contact supporting mechanism 4, the ground contact supporting mechanism 4 functions like a supporting wheel assembly in a crawler chassis and is used for receiving and transmitting the pressure of the ground. In the embodiment of the present invention, the specific structure of the ground support mechanism 4 may be a ground support device as used in chinese patent document CN107458486A, or may be another ground support device.
In an embodiment of the present invention, the ground engaging support mechanism 4 may have a rigid frame body on which a plurality of bogie wheels are mounted.
The deformation control mechanism 3 is used for controlling the change of the distance between the bearing frame 2 and the ground supporting mechanism 4 of the crawler-type escaping device 200 and simultaneously is used for bearing the load transferred between the vehicle and the ground.
As shown in fig. 6, the deformation control mechanism 3 further includes:
and an air bag 301 having a lower end fixedly connected to the upper plane of the ground support mechanism 4, wherein the air bag 301 is a closed cavity made of a film cloth material and is provided with an air vent communicated with the outside, and has a function of only expanding and contracting up and down according to the difference between the internal air pressure and the external air pressure.
For the airbag 301, the airbag material used in the hovercraft, for example, has a relatively large strength, but in the embodiment of the present invention, since the airbag 301 does not directly contact with the bottom surface, it can be made of the airbag 301 material having a relatively low strength enough to support a certain weight.
As for the sealing of the airbag 301, a sealing ridge line is generally generated, and the airbag 301 is easily folded at the sealing ridge line, so that, as shown in fig. 4, the airbag 301 has the sealing ridge line in the middle of the side surface, and the folding state of the airbag 301 can be controlled.
Fig. 9 to 11 illustrate the shape and deformation of the airbag 301 more precisely, and it can be seen that the airbag 301 is formed by stacking 6 airbags 303, and the adjacent airbags 303 are communicated with each other through the communication holes 306.
Preferably, the adjacent bladders 303 are joined by adhesive bonding between the joined surfaces.
Generally, the greater the number of capsules 303, the better the stability, in that the directionality of the gas is poor, and the different points of force on the capsules 303 will cause the position and shape of the capsules to change. This reduces the stability problem associated with poor gas directionality when there are a greater number of bladders 303.
The number of the balloon 303 is preferably 6, and is usually not less than 3, and not more than 8, and when the number of the balloon 303 is large, the height of the airbag 301 in the stored state as shown in fig. 11 is inevitably increased.
In the figure, the bag 303 is formed by two pieces of fabric, specifically, the bag can be formed at the edge by bonding, the bonding is common in the field of rubber technology, the bonding can be self-bonding, or adhesive bonding, the self-bonding can be sealed by using a hot knife, for example, and for the adhesive bonding, the bonding can be performed by using glue suitable for bonding between rubber fabrics, for example.
In the trachea 307 which may communicate with the central balloon 303 of the stack of balloons 303 or with the balloon 303 which is uppermost.
When one air pipe 307 is adopted, the air pipe 307 needs to be provided with a reversing valve, such as a two-position three-way valve, one is communicated with an air source, the other is communicated with the air bag 301, and the other is communicated with the atmosphere.
It will be appreciated that the additional support provided by the tracked escapes 200, the main support is still the wheels, and therefore the total support force required to be provided by each tracked escape 200 need not be too great. In the embodiment of the invention, if one vehicle 100 is provided with two crawler-type escaping devices 200, the bearing capacity of a single crawler-type escaping device 200 is more suitable at 300-500 kg, the materials for experiment are more conservative, the bearing capacity reaches 800 kg, the self weight of an off-road vehicle, especially a small off-road vehicle, is usually lower than 1500 kg, the self weight of a large off-road vehicle is also 2-3 tons, and the excessive bearing capacity is set, so that higher price can be generated, and the vehicle has no practical value in most applications.
With the sliding support plate 302 as shown in fig. 6, the guide slots 201 formed on the left and right frame rims of the carrier frame 2 are constrained and have freedom of movement in the direction in which the guide slots 201 extend so as to be able to slide back and forth, and the lower plane of the sliding support plate 302 is fixedly connected to the upper end of the airbag 301, providing support for the airbag 301, for taking up the upward force of the airbag 301 and transmitting it to the carrier frame 2.
The connection between the air bag 301 and the sliding support plate 302 is preferably adhesive.
As shown in fig. 5, the driving mechanism 1 is disposed at the front end of the carrier frame 2 in the left-right direction in the axial direction and is rotatably connected to the carrier frame 2, and the driving mechanism 1 is disposed with a sprocket structure that is adapted to the crawler 8 to provide power for rotating the crawler 8.
One end of the rotating arm 5 is hinged to the driving mechanism 1, and the other end is hinged to the front end of the grounding supporting mechanism 4, as shown in fig. 5.
One end of the rotating arm 6 is hinged to the rear end of the grounding support mechanism 4, as shown in fig. 5.
One end of the rotating arm 7 is hinged with the other end of the rotating arm 6, and the other end of the rotating arm 7 is hinged with the rear end of the bearing frame 2, as shown in figure 5.
It should be understood that the swivel arm 5, the swivel arm 6 and the swivel arm 7 serve as three links of the planar five-link mechanism for stabilizing and maintaining the mutual positional relationship between the ground supporting weight mechanism 4 and the carrier frame 2, as shown in fig. 5.
The crawler belt 8 is wrapped around the pentagonal mechanism shown in fig. 8, and is shown in fig. 4 and 5;
with respect to the locking mechanism 9, the basic components of the track locking mechanism and their connections are shown in fig. 5 and 6:
and a motor support 902 fixedly connected to the front end of the bearing frame 2.
And the motor 901 is fixedly arranged on the motor support 902.
The slide seat 903 is provided with a nut, and is engaged with the guide groove 202 provided in the carriage frame 2 so as to be slidable back and forth.
It will be appreciated that the slide seat 903 is also formed with a guide structure in the front-rear direction on the carrier frame 2, and as mentioned above, the guide structure available in the mechanical field includes a linear guide, a guide rod, etc., and obviously also adapts to the principle of the present invention.
And a screw 904 connected to the output shaft of the motor 901 and cooperating with a nut on the sliding seat 903 to form a nut-screw mechanism.
The left and right sides of the locking rod 905 are arranged in pairs, the front end of the locking rod is connected to the left and right sides of the sliding seat 903, the rear end of the locking rod is extended towards the rear along the front-rear direction of the bearing rack 2, and the locking rod 905 can be guided by a guide sleeve on the frame of the bracket.
In the structure shown in fig. 6, a guiding support block 907 is provided, which is connected to the lower portion of the left and right frame bodies of the carrier frame 2, and is sleeved on the locking rod 905 to form a rotating fit connection relationship with the locking rod.
The locking block 906 is sleeved on the locking rod 905 and forms a large-lead spiral connection matching relation with the locking rod 905, wherein the large lead means that the spiral angle of the formed thread pair is larger than the friction angle of the thread pair, and the thread pair can directly convert the linear motion of the locking rod 905 into the rotation of the locking block 906.
The mop rod is of a two-section structure, a large-lead thread pair is adopted between the two sections, and when the mop rod is pressed downwards, the up-and-down motion can be converted into the rotation motion of the mop head.
The lock block 906 is restricted from moving in the forward and backward directions by the guide support block 907 so that the linear motion of the lock rod 905 can be converted into the rotational motion of the lock block 906.
Based on the foregoing structure, as shown in fig. 4, 5, 6 and 7, the deformation process of the crawler-type escaping device 200 is as follows:
the track opening action process:
in the initial state, when the crawler-type escaping device 200 is in the retracted non-operating state, the air bag 301 is compressed, the ground contact support mechanism 4 and the carrier frame 2 are in the compressed state and have a small height or thickness as set in fig. 3, in this state, the locking block 906 is in the pre-compression locking state to the bottom surface of the crawler 8, and the sliding support plate 302 is located at the rear end of the guide chute 201 configured in the carrier frame 2 along with the air bag 301.
When the motor 901 is controlled to rotate, the lead screw 904 connected with the output shaft of the motor 901 rotates along with the rotation, so as to drive the sliding seat 903 which is in a thread pair connection relation with the lead screw 904 to move forwards along the guide chute 202, and further the sliding seat 903 drives the locking rod 905 to move forwards, the locking rod 905 moves forwards to drive the locking block 906 which is in a large-lead screw connection relation with the locking rod to rotate downwards, so that the locking block 906 is gradually separated from the bottom surface of the crawler 8 until the contact surface of the locking block 906 and the crawler 8 in a pressing and locking state rotates to be in a vertical direction, the motor 901 stops rotating, and the unlocking action of the locking mechanism 9 on the crawler 8 is completed.
Further, the air pressure in the air bag 301 is gradually increased by filling compressed air into the air bag 301 through the vent of the air bag 301, and the air pressure in the air bag 301 is gradually increased to assume a vertically extending state, so as to increase the distance between the ground supporting mechanism 4 and the carrier frame 2, and the rotating arm 5 and the rotating arm 6 which are hinged to the ground supporting mechanism 4 and the rotating arm 7 which is hinged to the rotating arm 6 rotate together, in the process, the ground supporting mechanism 4 simultaneously assumes a gradually advancing state, and further, the advancing of the ground supporting mechanism 4 drives the sliding support plate 302 to advance along the guide chute 201 through the pulling action of the air bag 301 until the set opening distance between the ground supporting mechanism 4 and the carrier frame 2 is reached, so that the state shown in fig. 4 is assumed.
The contraction action process of the crawler belt:
the vent hole of the air bag 301 is controlled to release compressed air in the inner cavity of the air bag 301, negative pressure is applied to the inner cavity of the air bag 301 through the vent hole of the air bag 301, under the action of atmospheric pressure outside the air bag 301, the air bag 301 is in a contracted state in the vertical direction, the distance between the grounding support weight mechanism 4 and the bearing rack 2 is reduced, the rotating arm 5 and the rotating arm 6 which are hinged with the grounding support weight mechanism 4 and the rotating arm 7 which is hinged with the rotating arm 6 rotate together, in the process, the grounding support weight mechanism 4 is in a gradually backward moving state, further, the backward moving of the grounding support weight mechanism 4 drives the sliding support plate 302 to move backward along the guide sliding groove 201 through the pulling action of the air bag 301 until the set contracted distance between the grounding support weight mechanism 4 and the bearing rack 2 is reached, and the state shown in fig..
Further, when the motor 901 is controlled to rotate reversely, the lead screw 904 connected with the output shaft of the motor 901 rotates reversely along with the lead screw 904, so as to drive the sliding seat 903 having a threaded connection pair with the lead screw 904 to move backward along the guide chute 202, and further the sliding seat 903 drives the locking rod 905 to move backward, the backward movement of the locking rod 905 causes the locking block 906 having a large-lead screw connection relationship with the locking rod to rotate towards the inner side of the crawler-type escaping device shown in fig. 7, until the locking block 906 contacts with the bottom surface of the crawler 8 and further presses the crawler 8 to the ground supporting mechanism 4 and presents a certain pre-compression state, the motor 901 stops rotating, and the compression and locking of the crawler 8 by the locking mechanism 9 are completed, and the state shown in fig. 7 is presented;
it should be noted that, in the present embodiment, the planar five-bar linkage mechanism formed by the base member carrying frame 2, the rotating arm 5, the grounding support mechanism 4, the rotating arm 6 and the rotating arm 7 of the crawler-type escaping device 200 satisfies the following relationship:
the constraint relation of the rod lengths of the five-bar linkage is as follows: i.e., a + e = b + c + d, to ensure that the tracked escape apparatus 200 has a minimum height or thickness in the stowed state, as shown in fig. 3, as shown in fig. 8;
in the fully opened state, the included angle between the rotating arm 6 and the rotating arm 7 is in a constraint relation: i.e. alpha < 180 deg., to ensure that the swivel arm 6 and swivel arm 7 swivel according to the set swivel trajectory during the retraction of the tracked escaping device 200, as shown in fig. 8;
it should be further noted that, for the crawler type operation mechanism, the tensioning device of the crawler is a permanent mechanism, and details are not described again in this embodiment;
as for the operation of the crawler-type escaping device 200, as shown in fig. 1, fig. 2 and fig. 4, when the crawler-type escaping device 200 is opened to the state shown in fig. 4, the driving mechanism 1 is operated to rotate, and then the sprocket mechanism of the driving mechanism 1 drives the crawler 8 to operate, so as to realize the forward movement or the backward movement of the vehicle 100, which is not further described herein.
Claims (13)
1. A crawler-type escaping device, comprising:
the bearing frame is provided with two frame side frames which are arranged along the front-back direction of the vehicle and are parallel to each other, and the two frame side frames are fixedly connected with each other;
the grounding support device is connected with the bearing rack through a rod piece to form a hinge four-bar linkage mechanism or a hinge five-bar linkage mechanism, has a movement form of being far away from or close to the bearing rack and is parallel to the bearing rack;
an upper connecting part which forms a moving pair in the front-back direction of the vehicle with the two frame frames;
an air bag, the upper side of the air bag is fixedly connected with the upper connecting part, and the lower side of the air bag is fixedly connected with the grounding supporting device;
a compressed air supply system connected to the air bag through an air tube;
and the crawler belt takes the hinge four-bar linkage or the hinge five-bar linkage as a crawler belt frame.
2. The tracked escaping device of claim 1, wherein the upper connecting portion is a sliding support plate;
correspondingly, the opposite side surfaces between the two frame frames are provided with sliding grooves for guiding the sliding support plates;
a guide rod mounted on the bearing frame for guiding the sliding support plate; or
And the linear guide rail is arranged on the bearing rack and used for guiding the sliding support plate.
3. The crawler-type escaping device of claim 1, wherein a locking mechanism for locking the grounding weight device on the carrier frame when the grounding weight device runs to the top dead center is provided on the carrier frame.
4. The tracked trapped device of claim 3, wherein the locking mechanism comprises:
the linear driving part is used for providing linear direction motion;
the locking rod is actuated by the linear driving part in the front-rear direction of the crawler-type escaping device and is provided with a power thread, and the helix angle of the power thread is larger than the equivalent friction angle;
correspondingly, a locking block is arranged on the outer side face of the frame of the bearing rack, the locking block is installed on the locking rod through the power threads and is limited in the front-back direction of the bearing rack, so that the linear motion of the locking rod can be converted into the rotation of the locking block, and after the grounding supporting device moves upwards to a proper position, the locking block is turned over to support and support the grounding supporting device.
5. The crawler-type escaping device of claim 4, wherein three locking blocks are arranged on each frame.
6. The tracked escaping device according to claim 4 or 5, wherein the linear driving part comprises:
the sliding seat is guided to the frame and provided with a nut;
the screw rod is arranged on the bearing rack, is parallel to the frame of the rack and is matched with the nut to form a nut screw rod mechanism;
and the output end of the motor is connected with the lead screw.
7. The tracked bailing device of claim 1, wherein said hinged five-bar linkage is configured to:
the bearing frame forms a frame of the hinge five-bar mechanism;
the grounding support device forms a first connecting rod;
providing a first connecting frame rod, wherein one end of the first connecting frame rod is hinged to the front end of the rack, and the other end of the first connecting frame rod is hinged to the front end of the grounding supporting device;
providing a second side link, wherein one end of the second side link is hinged to the rear end of the rack;
one end of the second connecting rod is hinged with the other end of the second side link, and the other end of the second connecting rod is hinged with the rear end of the grounding support device;
wherein, the length sum of the rack and the second connecting rod is equal to the length sum of the rest three connecting rods.
8. The tracked escaping device of claim 1, wherein the air bag is a rectangular parallelepiped air bag when the air bag is expanded;
the bladder sidewall has pre-folds.
9. The tracked escaping device according to claim 8, wherein the pre-crease is a connecting ridge line between the material surfaces forming the wall of the air bag.
10. The crawler-type escaping device according to claim 8, wherein the air bag is composed of sequentially stacked and sequentially communicated bladders;
bonding adjacent capsules;
one of the air bags is connected with an air pipe.
11. The tracked escaping device of claim 10, wherein the air tube is connected to the bladder located uppermost.
12. The tracked escaping device according to claim 10, wherein the number of the capsules is 3-8.
13. A crawler-type escaping device according to any one of claims 1 and 8 to 12, wherein the connection between the air bag and the upper connecting portion and the ground-engaging support device is bonding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910862420.3A CN110510016B (en) | 2019-09-12 | 2019-09-12 | Crawler-type escaping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910862420.3A CN110510016B (en) | 2019-09-12 | 2019-09-12 | Crawler-type escaping device |
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| Publication Number | Publication Date |
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| CN110510016A CN110510016A (en) | 2019-11-29 |
| CN110510016B true CN110510016B (en) | 2021-02-12 |
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| CN201910862420.3A Active CN110510016B (en) | 2019-09-12 | 2019-09-12 | Crawler-type escaping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022511B (en) * | 2021-03-01 | 2023-04-25 | 重庆长江电工工业集团有限公司 | Vehicle device of getting rid of poverty |
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| CN110510016A (en) | 2019-11-29 |
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